CN109141745A - A kind of six-dimensional force/torque sensor caliberating device and scaling method - Google Patents
A kind of six-dimensional force/torque sensor caliberating device and scaling method Download PDFInfo
- Publication number
- CN109141745A CN109141745A CN201811198678.XA CN201811198678A CN109141745A CN 109141745 A CN109141745 A CN 109141745A CN 201811198678 A CN201811198678 A CN 201811198678A CN 109141745 A CN109141745 A CN 109141745A
- Authority
- CN
- China
- Prior art keywords
- load
- sensor
- dimensional force
- staking
- pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of six-dimensional force/torque sensor caliberating device and method, including staking-out work platform, the both ends of the staking-out work platform are respectively arranged with a support rod, and the upper end of the support rod is provided with pulley, and the pulley on two support rods is arranged in parallel；The sensor base for fixing multi-dimension force sensor is movably set on the staking-out work platform, load load bar is removably connected in the sensor base, the both ends of the load load bar are respectively arranged with connecting hole, it is loaded and is restricted with constantly acting load, the load load rope is connected by pulley with tensiometer, carries out dynamic or/and static demarcating to multi-dimension force sensor.
Description
Technical field
The present invention relates to a kind of six-dimensional force/torque sensor caliberating device and scaling methods.
Background technique
Six-dimensional force torque sensor is used to detect power Fx, Fy, Fz torque Mx, My, the Mz in three-dimensional space, is widely used in boat
The fields such as empty space flight, manufacture and assembly, sports and teleoperation robot.Six-dimensional force torque sensor was due to manufacturing
Machining error in journey, resistance value and patch location error of resistance strain gage etc. influence, and cause six-dimensional force torque sensor
Input force value and output voltage between relationship it is uncertain.In order to this relationship of determination, need to pass six-dimensional force torque
Sensor is demarcated, and then can complete solution misfortune process by solution misfortune algorithm.Since the precision of sensor is determined by caliberating device
Fixed, therefore caliberating device occupies an important position in the design process of six-dimensional force torque sensor.
At present, the loading force mode of six-dimensional force torque sensor caliberating device mainly have jack type, hand speed reducer formula,
It dispels yard formula etc..But these loading force modes, which all cannot achieve, carries out one-dimensional force square application load to six-dimensional force torque sensor.
Concrete example is described as follows:
China Patent No. are as follows: ZL200810020511.4 discloses a kind of method of jack load calibration, this method tool
There is load range big, load the features such as workload is small, but jack is unstable with load force value, the not high spy of accuracy
Property so that the stated accuracy of the device is not high.Chinese patent application publication No. are as follows: it is more that CN101776506A discloses a kind of large size
Dimensional force sensor calibrating and loading bench, the patent use hydraulic loaded, and using one-dimensional pull pressure sensor measurement load force value, should
Device has the advantages that loading force range is big, and it is continuously adjustable to load force value, but hydraulic loading system can equally have load
The unstable disadvantage of force value.China Patent No. are as follows: ZL200510050834.4 discloses a kind of stepless lifting type six dimension power sensing
Device caliberating device, the structure use gantry type frame, and by pulley stepless lifting, mechanism can be continuously available rope and horizontal plane
Between angle, and using reducer with big speed ratio to six-dimension force sensor apply load, which can be a large amount of to large scale
Six-dimension force sensor is demarcated, but the device, which can not carry out one-dimensional force square to six-dimension force sensor, applies load, simultaneously
The device is loaded using hand speed reducer so that load force value is difficult to control, and can not be carried out to six-dimensional force torque sensor accurate
Calibration.Chinese patent application publication No. are as follows: CN101936797A disclose it is a kind of using dispel code load by the way of to six-dimensional force pass
Sensor is demarcated, which, which still cannot achieve, carries out one-dimensional force square application load to six-dimensional force torque sensor.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes a kind of six-dimensional force/torque sensor caliberating device and scaling method,
The present invention, which can be realized, carries out one-dimensional force square application load to six-dimensional force torque sensor.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of six-dimensional force/torque sensor caliberating device, including staking-out work platform, the both ends difference of the staking-out work platform
It is provided with a support rod, the upper end of the support rod is provided with pulley, and the pulley on two support rods is arranged in parallel；The calibration
It is movably set with the sensor base for fixing multi-dimension force sensor on workbench, is detachably connected in the sensor base
There is load load bar, the both ends of the load load bar are respectively arranged with connecting hole, load and restrict with constantly acting load, and the load adds
It carries rope to be connected by pulley with tensiometer, dynamic or/and static demarcating is carried out to multi-dimension force sensor.
Further, it is provided with several sliding blocks in the sensor base, is arranged on the sliding block and staking-out work platform
Several sliding slots match.
Further, the sensor base includes orthogonal first fixed plate and the second fixed plate, and described first
Fixed plate is parallel with staking-out work platform, and second fixed plate and staking-out work platform are perpendicular.
Further, the bottom end of first fixed plate is provided with sliding block, and the sliding block moves along the chute.
Further, multiple threaded holes are provided in first fixed plate, by fixing bolt in threaded hole, described
One fixed plate is fixed with staking-out work platform.
Further, multiple threaded holes, the threaded hole and sensor external flange are provided in second fixed plate
Threaded hole corresponds.
Further, multiple threaded holes, the threaded hole and sensor external flange are provided on the load load bar
Threaded hole corresponds.
Further, several threaded holes are provided on the body of rod of the support rod, are removably connected with and are led by threaded hole
To pulley.
Further, two pulleys symmetrical along support rod central axes are provided on the end of the support rod, and
The direction of two pulleys is consistent.
The scaling method of power based on above-mentioned apparatus, the upper lower flange of multi-dimension force sensor respectively with sensor base and
Load load bar is threadedly coupled, and on the circular hole for the end that load load rope is fixed on load load bar, load load rope passes through cunning
Wheel is connected with tensiometer, carries out dynamic and static demarcating to multi-dimension force sensor by applying pulling force to tensiometer.
The scaling method of torque based on above-mentioned apparatus, the upper lower flange of multi-dimension force sensor respectively with sensor base
It is threadedly coupled with load load bar, load load rope is separately fixed on the circular hole of load load bar, in the bar of a side support bar
Leading block is installed on body, leading block is first passed through by the load load rope of a mother rib lateral rotundum and is set using the side support bar upper end
The pulley set, by the load load rope of another mother rib lateral rotundum only by the pulley of side support bar upper end setting, so that load adds
It is opposite for carrying the direction of pull of rope, to realize the calibration of torque.
Compared with prior art, the invention has the benefit that
1, it is loaded by full-automatic puller system, which has the advantages that loading force range is big, loads force value steady and continuous
It is adjustable, and precision is high, reproducible.
2, different shaped can be realized by changing sensor base screw thread hole site or replacing the method for sensor base
The power of number sensor/torque calibration.Has the extensive feature of calibration range.
3, the present invention can either individually demarcate all directions one-dimensional power and torque, but can power to all directions and
Torque carries out Combined Loading and carries out independent loading mode to six-dimensional force/torque all directions, can accurately obtain all directions
One-dimensional power or torque input output between retinoic acid syndrome relationship, improve six-dimensional force/torque sensor decoupling precision pair
Six-dimensional force/torque sensor carries out Combined Loading, can the stress condition of analog sensor in the actual environment, and be able to verify that
The available accuracy of six-dimensional force torque sensor.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the schematic perspective view of the present embodiment device；
Fig. 2 is the schematic perspective view of staking-out work platform；
Fig. 3 is the schematic perspective view of sensor base；
Fig. 4 is the schematic perspective view of load load bar；
Fig. 5 is the schematic diagram of the calibration of the present embodiment power；
Fig. 6 is the schematic diagram of the calibration of the present embodiment torque；
Wherein, 1, staking-out work platform, 2, sensor base, 3, load load bar, 4, pulley, 5, pulley support frame, 6, lead
To pulley threaded hole, 7, horizontal base, 8, threaded hole, 9, threaded hole, 10, sensor base horizontal plane, 11, threaded hole, 12, spiral shell
Pit, 13, T shape groove, 14, threaded hole, 15, circular hole, 16, Anti-slip support, 17, sensor vertical fixed plate, 18, sensor water
Flat fixed plate, 19, T shape slide unit, 20, threaded hole, 21, threaded hole, 22, threaded hole, 23, circular hole, 24, load load rope, 25, drawing
Power machine.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
A kind of six-dimensional force/torque sensor caliberating device, as shown in Figure 1, the schematic perspective view of the present apparatus, the mark
Determine platform have good accuracy and it is easy to use the features such as.It include staking-out work platform 1, sensor base 2, load load bar
3, load charger.Wherein calibrating table 1 provides support for carrying sensor base 2 and for load application.Sensor base 2
It is slid on staking-out work platform 1 by slideway 13, it is fixed by threaded hole 11 by bolt after determining 2 position of sensor base
On staking-out work platform 1.
It is illustrated in figure 2 staking-out work platform 1, includes pulley 4, pulley support frame 5, leading block threaded hole 6, horizontal base
Seat 7, T shape groove 13, Anti-slip support 16.Each 5 upper end of pulley support frame is symmetrical with support frame as described above and is distributed two pulleys 4, sliding
Wheel 4 is threadedly coupled by bolt with pulley support frame 5.Pulley support frame 5 is distributed in the centre bit of 1 left and right sides of horizontal table
It sets, is fixedly connected with horizontal base 7.Four threaded holes are opened on the downside of each pulley bracket 5, for installing leading block.Installation is led
Moment information can be measured after to pulley.4 T shape grooves 13 are uniformly opened in the centre of horizontal base 7, and the groove is sensor base
The slideway of seat 2.Anti-slip support 16 is mounted on four angles of horizontal base 7, and the bracket is fixedly connected with horizontal base 7.
It is illustrated in figure 3 sensor base 2, includes sensor vertical fixed plate 17, sensor levels fixed plate 18, T
Shape slide unit 19.Threaded hole 8 is opened in sensor vertical fixed plate 17, the threaded hole and sensor outward flange threaded hole one are a pair of
It answers, tested six power/torque sensors can be threadedly coupled by the threaded hole.It is opened in sensor levels fixed plate 17
Threaded hole 12, the threaded hole and sensor outward flange threaded hole correspond, and tested six power/torque sensors can pass through institute
Threaded hole is stated to be threadedly coupled.It is fixedly connected sequentially 4 T shape slide units 19 in 18 lower part middle of sensor levels fixed plate.
The workbench can be slided on T shape groove 13.Threaded hole 11,20,21 and 22 is opened in sensor levels fixed plate 18.
The threaded hole is for sensor base 2 and staking-out work platform 1 to be fixed.
It is illustrated in figure 4 load load bar 3, load load bar intermediate disc periphery is opened 6 sizes similarly hereinafter and is uniformly distributed
Threaded hole, the threaded hole and sensor external flange threaded hole correspond.Respectively symmetrically open two in 3 two sides of load load bar
The identical circular hole 15,23 of a size.Circular hole is used to apply by load and restrict.
The calibration of power
As shown in figure 5, by the upper lower flange of multi-dimension force sensor respectively with 3 spiral shell of sensor base 2 and load load bar
Line connection.Load load rope 24 is separately fixed on the circular hole 15,23 of load load bar 3.Load load rope is by pulley 4 and draws
Power machine 25 is connected, and the pulling force applied by puller system 25 can carry out dynamic and static demarcating to multi-dimension force sensor.
The calibration of torque
As shown in fig. 6, the upper lower flange of multi-dimension force sensor respectively with 3 screw thread of sensor base 2 and load load bar
Connection.Load load rope 24 is separately fixed on the circular hole 15,23 of load load bar 3.Threaded hole in 5 side of pulley support frame
Upper installation leading block.Leading block 4 is first passed through using two on pulley support frame 5 by the load load rope of circular hole 15
Pulley, by the load load rope of circular hole 23 only by two pulleys on wheeling supporting frame 5.The pulling force side of load load rope in this way
To being opposite, to realize the calibration of torque.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of six-dimensional force/torque sensor caliberating device, it is characterized in that: include staking-out work platform, the staking-out work platform
Both ends are respectively arranged with a support rod, and the upper end of the support rod is provided with pulley, and the pulley on two support rods is arranged in parallel；
The sensor base for fixing multi-dimension force sensor is movably set on the staking-out work platform, it can in the sensor base
Dismantling connection has load load bar, and the both ends of the load load bar are respectively arranged with connecting hole, is loaded and is restricted with constantly acting load, institute
It states load load rope to be connected by pulley with tensiometer, dynamic or/and static demarcating is carried out to multi-dimension force sensor.
2. a kind of six-dimensional force/torque sensor caliberating device as described in claim 1, it is characterized in that: the sensor base
On be provided with several sliding blocks, several sliding slots being arranged on the sliding block and staking-out work platform match.
3. a kind of six-dimensional force/torque sensor caliberating device as described in claim 1, it is characterized in that: the sensor base
Including orthogonal first fixed plate and the second fixed plate, first fixed plate is parallel with staking-out work platform, and described
Two fixed plates and staking-out work platform are perpendicular.
4. a kind of six-dimensional force/torque sensor caliberating device as claimed in claim 2, it is characterized in that: first fixed plate
Bottom end be provided with sliding block, the sliding block moves along the chute.
5. a kind of six-dimensional force/torque sensor caliberating device as described in claim 1, it is characterized in that: first fixed plate
On be provided with multiple threaded holes, by fixing bolt in threaded hole, first fixed plate is fixed with staking-out work platform.
6. a kind of six-dimensional force/torque sensor caliberating device as described in claim 1, it is characterized in that: second fixed plate
On be provided with multiple threaded holes, the threaded hole and sensor external flange threaded hole correspond.
7. a kind of six-dimensional force/torque sensor caliberating device as described in claim 1, it is characterized in that: the load load bar
On be provided with multiple threaded holes, the threaded hole and sensor external flange threaded hole correspond.
8. a kind of six-dimensional force/torque sensor caliberating device as described in claim 1, it is characterized in that: the bar of the support rod
It is provided with several threaded holes on body, leading block is removably connected with by threaded hole；
Two pulleys symmetrical along support rod central axes, and the direction of two pulleys are provided on the end of the support rod
Unanimously.
9. the scaling method of the power based on device such as of any of claims 1-8, it is characterized in that: multi-dimension force sensor
Upper lower flange be threadedly coupled respectively with sensor base and load load bar, load load rope is fixed on load load bar
On the circular hole of end, load load rope is connected by pulley with tensiometer, is sensed by applying pulling force to tensiometer to multi-dimensional force
Device carries out dynamic and static demarcating.
10. the scaling method of the torque based on device such as of any of claims 1-8, it is characterized in that: multi-dimensional force passes
The upper lower flange of sensor is threadedly coupled with sensor base and load load bar respectively, and load load rope is separately fixed at load
On the circular hole of load bar, leading block is installed on the body of rod of a side support bar, is first passed through by the load load rope of a mother rib lateral rotundum
The pulley that leading block is arranged using the side support bar upper end is crossed, which is only passed through by the load load rope of another mother rib lateral rotundum
The pulley of post upper setting, so that the direction of pull of load load rope is opposite, to realize the calibration of torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198678.XA CN109141745B (en) | 2018-10-15 | 2018-10-15 | Six-dimensional force/torque sensor calibration device and calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198678.XA CN109141745B (en) | 2018-10-15 | 2018-10-15 | Six-dimensional force/torque sensor calibration device and calibration method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109141745A true CN109141745A (en) | 2019-01-04 |
| CN109141745B CN109141745B (en) | 2020-08-25 |
Family
ID=64811740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811198678.XA Expired - Fee Related CN109141745B (en) | 2018-10-15 | 2018-10-15 | Six-dimensional force/torque sensor calibration device and calibration method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109141745B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109682533A (en) * | 2019-01-08 | 2019-04-26 | 吉林大学 | Double mode six-dimensional force/torque sensor caliberating device and scaling method |
| CN109827705A (en) * | 2019-04-08 | 2019-05-31 | 中国工程物理研究院总体工程研究所 | A kind of caliberating device for the detection of moment of flexure sensor performance |
| CN113063577A (en) * | 2021-03-16 | 2021-07-02 | 南京航空航天大学 | Spraying pipe rack with pretightening force and using method |
| CN113358274A (en) * | 2021-06-10 | 2021-09-07 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
| CN113820066A (en) * | 2021-09-22 | 2021-12-21 | 山东建筑大学 | Six-dimensional miniature force/torque sensor static calibration device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59151032A (en) * | 1983-02-18 | 1984-08-29 | Hitachi Ltd | Evaluating and calibrating jig of force sensor |
| CN101936797A (en) * | 2010-08-06 | 2011-01-05 | 重庆大学 | Calibration device and method of six-dimensional force sensor |
| CN102749168A (en) * | 2012-07-26 | 2012-10-24 | 哈尔滨工业大学 | Combined calibration device of no-coupling six-dimensional force sensor |
| US20130319073A1 (en) * | 2012-06-05 | 2013-12-05 | Yonsei University Wonju Industry-Academic Cooperation Foundation | Apparatus for measuring shearing force upon sitting |
| CN103604561A (en) * | 2013-11-27 | 2014-02-26 | 东南大学 | Calibration device and method of six-axis force/torque sensor |
| CN106568550A (en) * | 2016-10-13 | 2017-04-19 | 同济大学 | Six-dimension force sensor calibration device and calibration method thereof |
| CN207850594U (en) * | 2017-12-31 | 2018-09-11 | 交通运输部天津水运工程科学研究所 | Steel chord type anchor ergometer calibrating installation |
-
2018
- 2018-10-15 CN CN201811198678.XA patent/CN109141745B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59151032A (en) * | 1983-02-18 | 1984-08-29 | Hitachi Ltd | Evaluating and calibrating jig of force sensor |
| CN101936797A (en) * | 2010-08-06 | 2011-01-05 | 重庆大学 | Calibration device and method of six-dimensional force sensor |
| US20130319073A1 (en) * | 2012-06-05 | 2013-12-05 | Yonsei University Wonju Industry-Academic Cooperation Foundation | Apparatus for measuring shearing force upon sitting |
| CN102749168A (en) * | 2012-07-26 | 2012-10-24 | 哈尔滨工业大学 | Combined calibration device of no-coupling six-dimensional force sensor |
| CN103604561A (en) * | 2013-11-27 | 2014-02-26 | 东南大学 | Calibration device and method of six-axis force/torque sensor |
| CN106568550A (en) * | 2016-10-13 | 2017-04-19 | 同济大学 | Six-dimension force sensor calibration device and calibration method thereof |
| CN207850594U (en) * | 2017-12-31 | 2018-09-11 | 交通运输部天津水运工程科学研究所 | Steel chord type anchor ergometer calibrating installation |
Non-Patent Citations (2)
| Title |
|---|
| ***等: "《并联结构六维力传感器》", 30 April 2014, 北京：国防工业出版社 * |
| 郑红梅等: "机器人六维腕力传感器标定试验台误差分析与研究", 《计量学报》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109682533A (en) * | 2019-01-08 | 2019-04-26 | 吉林大学 | Double mode six-dimensional force/torque sensor caliberating device and scaling method |
| CN109682533B (en) * | 2019-01-08 | 2024-04-30 | 吉林大学 | Dual-mode six-dimensional force/torque sensor calibration device and calibration method |
| CN109827705A (en) * | 2019-04-08 | 2019-05-31 | 中国工程物理研究院总体工程研究所 | A kind of caliberating device for the detection of moment of flexure sensor performance |
| CN109827705B (en) * | 2019-04-08 | 2023-10-03 | 中国工程物理研究院总体工程研究所 | Calibration device for detecting performance of bending moment sensor |
| CN113063577A (en) * | 2021-03-16 | 2021-07-02 | 南京航空航天大学 | Spraying pipe rack with pretightening force and using method |
| CN113358274A (en) * | 2021-06-10 | 2021-09-07 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
| CN113358274B (en) * | 2021-06-10 | 2022-09-13 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
| CN113820066A (en) * | 2021-09-22 | 2021-12-21 | 山东建筑大学 | Six-dimensional miniature force/torque sensor static calibration device |
| CN113820066B (en) * | 2021-09-22 | 2024-05-24 | 山东建筑大学 | Six-dimensional miniature force/moment sensor static calibration device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109141745B (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109141745A (en) | A kind of six-dimensional force/torque sensor caliberating device and scaling method | |
| CN103604561B (en) | Calibration device and method of six-axis force/torque sensor | |
| CN106327966B (en) | Assembly beam structure experiment model and method | |
| CN201464278U (en) | Multi-function laboratory table for material mechanics | |
| CN107702681B (en) | Test device and method for simulating foundation settlement of large storage tank | |
| CN104006920A (en) | Self-balancing type space six-dimensional force/moment loading device | |
| CN110631749B (en) | X-ray residual stress detection sample stage | |
| CN105953712A (en) | Shaft-like member loading deformation testing device and testing method | |
| CN102279077B (en) | Calibration device for double-force-source six-dimensional force sensor | |
| CN101571442A (en) | Calibration method for six-dimension force sensor calibration device with medium measurement range | |
| CN106124199A (en) | Precision speed reduction device static properties test device and method of testing thereof | |
| CN106840888A (en) | A kind of Analysis of Concrete Tensile experimental rig and its method of testing | |
| CN202814382U (en) | Adjustable type main cable strand sag measurement tool | |
| CN202661346U (en) | Universal tool for Rockwell hardness detection | |
| CN202216801U (en) | Double-force-source calibration device for six-dimensional force sensor | |
| CN104344987B (en) | Pulling, bending and twisting material loading testing machine | |
| CN106153248A (en) | A kind of high accuracy static three-dimensional force sensor caliberating device | |
| CN208705041U (en) | A kind of Proportional valve load equipment | |
| CN207396254U (en) | A kind of auxiliary device based on the calibrating of bolt torsion tester torque | |
| CN105181241A (en) | Adjustable work bench type force loading apparatus and calibration method thereof | |
| CN206441149U (en) | A kind of Quick Response Code automatic testing tool | |
| CN108760297A (en) | A kind of Proportional valve load equipment | |
| CN206002039U (en) | A kind of workpiece biside plate upper annular part larger diameter internal bore coaxiality detecting tool | |
| CN107462367B (en) | A kind of caliberating device of six degree of freedom power and torque sensor | |
| CN209215108U (en) | A kind of rock sample transversely deforming measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200825 Termination date: 20211015 |